Techniques to compensate for movement of sensors in a vehicle

Abstract

Techniques are described for compensating for movements of sensors. A method includes receiving two sets of sensor data from two sets of sensors, where a first set of sensors are located on a roof of a cab of a semi-trailer truck and a second set of sensor data are located on a hood of the semi-trailer truck. The method also receives from a height sensor a measured value indicative of a height of the rear of a rear portion of the cab of the semi-trailer truck relative to a chassis of the semi-trailer truck, determines two correction values, one for each of the two sets of sensor data, and compensates for the movement of the two sets of sensors by generating two sets of compensated sensor data. The two sets of compensated sensor data are generated by adjusting the two sets of sensor data based on the two correction values.

What is claimed is: 
     
         1 . A method, comprising:
 receiving sensor data obtained from a sensor that is located on a vehicle;   receiving a measured value that indicates a change in a height of at least a portion of the vehicle; and   calibrating the sensor data based on the measured value.   
     
     
         2 . The method of  claim 1 , wherein the sensor is located on a cab portion or a hood portion of the vehicle, and wherein the sensor experiences a rotation with respect to a chassis of the vehicle. 
     
     
         3 . The method of  claim 1 , further comprising:
 determining a degree of rotation experienced by the sensor with respect to an axis based on the measured value, wherein calibrating the sensor data comprises modifying the sensor data based on the degree of rotation.   
     
     
         4 . The method of  claim 1 , wherein the sensor data comprises image data or light detection and ranging (LiDAR) data. 
     
     
         5 . The method of  claim 1 , wherein calibrating the sensor data comprises deriving a correction value based on a degree of rotation experienced by the sensor with respect to an axis, wherein an association between the correction value and the degree of rotation is pre-determined. 
     
     
         6 . The method of  claim 1 , further comprising:
 receiving a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during an operation of the vehicle; and   aligning the second sensor data with the sensor data that describes an area that is exterior to the vehicle by modifying the second sensor data based on the measured value.   
     
     
         7 . The method of  claim 1 , wherein the measured value is received from a height sensor located at a rear portion of a cab of the vehicle, and the measured value is indicative of a height of the rear portion of the cab relative to a chassis of the vehicle. 
     
     
         8 . A system, comprising:
 a computer comprising a processor and a memory storing instructions that, when executed by the processor, cause the computer to:   receive sensor data obtained from a sensor that is located on a vehicle;   receive a measured value that indicates a change in a height of at least a portion of the vehicle; and   calibrate the sensor data based on the measured value.   
     
     
         9 . The system of  claim 8 , wherein the sensor is located on a cab portion or a hood portion of the vehicle, and wherein the sensor is experiencing a rotation with respect to a chassis of the vehicle. 
     
     
         10 . The system of  claim 8 , wherein the computer is further caused to a degree of rotation experienced by the sensor with respect to an axis based on the measured value, wherein calibrating the sensor data comprises modifying the sensor data based on the degree of rotation. 
     
     
         11 . The system of  claim 8 , wherein the sensor data comprises image data, or light detection and ranging (LiDAR) data. 
     
     
         12 . The system of  claim 8 , wherein calibrating the sensor data comprises deriving a correction value based on a degree of rotation experienced by the sensor with respect to an axis, wherein an association between the correction value and the degree of rotation is pre-determined. 
     
     
         13 . The system of  claim 8 , wherein the computer is further caused to:
 receive a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during an operation of the vehicle; and   align the second sensor data with the sensor data that describes an area that is exterior to the vehicle by modifying the second sensor data based on the measured value.   
     
     
         14 . The system of  claim 8 , wherein the measured value is received from a height sensor located at a rear portion of a cab of the vehicle, and the measured value is indicative of a height of the rear portion of the cab relative to a chassis of the vehicle. 
     
     
         15 . A non-transitory computer readable storage medium having code stored thereon, the code, when executed by a processor, causing the processor to:
 receive sensor data obtained from a sensor that is located on a vehicle;   receive a measured value that indicates a change in a height of at least a portion of the vehicle; and   calibrate the sensor data based on the measured value.   
     
     
         16 . The non-transitory computer readable storage medium of  claim 15 , wherein the sensor is located on a cab portion or a hood portion of the vehicle, and wherein the sensor is experiencing a rotation with respect to a chassis of the vehicle. 
     
     
         17 . The non-transitory computer readable storage medium of  claim 15 , wherein the processor is further caused to a degree of rotation experienced by the sensor with respect to an axis based on the measured value, wherein calibrating the sensor data comprises modifying the sensor data based on the degree of rotation. 
     
     
         18 . The non-transitory computer readable storage medium of  claim 15 , wherein the sensor data comprises image data, or light detection and ranging (LiDAR) data. 
     
     
         19 . The non-transitory computer readable storage medium of  claim 15 , wherein calibrating the sensor data comprises deriving a correction value based on a degree of rotation experienced by the sensor with respect to an axis, wherein an association between the correction value and the degree of rotation is pre-determined. 
     
     
         20 . The non-transitory computer readable storage medium of  claim 15 , wherein the processor is further caused to:
 receive a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during an operation of the vehicle; and   align the second sensor data with the sensor data that describes an area that is exterior to the vehicle by modifying the second sensor data based on the measured value.